CN111023976B - Device and method for detecting ore volume of mining dump truck based on linear laser scanning - Google Patents
Device and method for detecting ore volume of mining dump truck based on linear laser scanning Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2504—Calibration devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2518—Projection by scanning of the object
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/254—Projection of a pattern, viewing through a pattern, e.g. moiré
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/28—Measuring arrangements characterised by the use of optical techniques for measuring areas
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/12—Edge-based segmentation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
- G06T7/337—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods involving reference images or patches
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10024—Color image
Abstract
The invention discloses a mineral square amount detection device and method of a mining dump truck based on linear laser scanning, the device comprises a carriageway, a camera, a horizontal supporting beam, a vertical beam, a black light absorption plate, a cross beam, a linear green laser, a vertical supporting beam, an industrial personal computer and a cursor ruler, the carriageway is horizontally and transversely arranged on the ground, the vertical beam is arranged on two sides of the carriageway along the vertical direction, the cross beam is horizontally and longitudinally arranged at the top end of the vertical beam, the vertical beam and the cross beam form a light curtain door, one end of the cross beam is provided with the black light absorption plate, the bottom of the middle position of the cross beam is provided with the linear green laser, the bottom of the horizontal supporting beam is provided with the camera, the method of linear laser scanning auxiliary imaging and image recognition carriage mineral profile is adopted, the carriage square amount is finally obtained through image acquisition, image extraction, image correction, area calculation and volume calculation, the structure is novel, reliable and practical, and good economical efficiency.
Description
Technical Field
The invention relates to a device and a method for detecting the ore volume of a mining dump truck, in particular to a device and a method for detecting the ore volume of the mining dump truck based on linear laser scanning, which are suitable for strip mine automobile transportation.
Background
The mining dump truck is the main equipment for automobile transportation in large open-pit mine areas at home and abroad, and is responsible for the important task of transporting ores and rock and soil. The mining dump truck mainly comprises a truck head, a truck frame, a carriage, wheels, an attached power, braking, damping and buffering device and the like, has the characteristics of great self weight, great load weight and large volume, and is used for carrying important tasks of transporting ores and rock soil.
The ore volume is an important parameter for measuring the efficiency of the mining dump truck, is a main basis for enterprises to formulate reasonable production and dumping tasks, and is also one of key indexes for evaluating the performance of drivers. At present, the ore volume detection for the mining dump truck mainly has the following modes: firstly, manually observing and estimating the ore volume loaded by the mining dump truck according to the rated volume of a carriage; secondly, a light curtain is formed by using a light curtain generator and a light curtain receiver, and the change of the outline size of the vehicle is detected by depending on the change of the light curtain received by the light curtain receiver based on the shielding of the vehicle on the light curtain, so as to obtain the ore volume, for example, the device and the method for measuring the outline size of the vehicle with the patent application number of CN 201610595422.7; thirdly, scanning and acquiring coordinate information of the outer surface of the target by using a laser ranging mode to calculate the amount of ore, acquiring the coordinate information of the outer surface of the target by using laser beam space angular displacement change to form laser radar point cloud of the outer surface of the vehicle, such as a laser radar-based automatic detection system and a laser radar-based automatic detection method for the outer dimension of the vehicle with the patent application number of CN201910100424.8, or forming a laser radar array by using a plurality of laser radars to acquire the outer dimension profile of the vehicle in an array scanning mode, such as an electric locomotive compartment dynamic measurement device with the patent application number of CN 201910041379.3; fourthly, by utilizing a mode of combining laser ranging and machine vision ranging, the method integrates the advantages of high precision of laser single-point ranging and sensitivity of binocular machine vision to texture information, integrates the point cloud of the outer surface of the target object obtained by a laser radar and the corresponding point cloud obtained by a binocular camera, improves the ranging precision, and obtains more accurate outer surface size of the vehicle, such as the combined measuring method based on the laser radar and the binocular visible light camera with the patent application number of CN 201810240140.4.
However, the following problems still exist in the existing research: firstly, the method of manually observing and estimating the square amount of the ore is adopted, and obviously, the error is very large; secondly, the overall dimension of the vehicle is measured by adopting a light curtain shielding mode, the method is mainly suitable for measuring the width and the height of the whole vehicle, the purpose of limiting the height and the width of the vehicle is achieved, the resolution of the vehicle profile details is lacked, and the accuracy of the estimated ore volume is poor; thirdly, laser radar scanning mainly utilizes a point light source to emit laser beams, and after the laser beams are incident on a target object, ranging is carried out by depending on the laser beams reflected by detection, and is limited by a working principle, the incident angle of the laser beams and the reflection characteristic of the target object have great influence on the ranging result of the laser radar, so that the laser ranging has higher accuracy when carrying out single-point ranging on the target object, and a three-dimensional target is scanned, particularly for the target object with obvious diffuse reflection characteristic, such as carriage ore, the angular resolution in a three-dimensional space is difficult to guarantee, so that the accuracy of detecting the ore volume in the space is limited, and if a plurality of laser radars are adopted to form a high-density radar array or a large-scale high-angular resolution three-dimensional laser radar is adopted to scan a mining truck, the economy is poor; fourthly, a mode of combining laser ranging and binocular vision ranging is adopted, point clouds obtained by the laser ranging and the binocular vision ranging are fused, the identification precision of the outer surface of the vehicle can be improved, redundant ranging is achieved substantially, hardware investment is high, a fusion algorithm is complex, and economy and instantaneity are not high when the system is applied to an industrial field. Therefore, there is a need to develop a device and a method for detecting the ore volume of a mining dump truck, which have reliability, practicability and economy, so as to quickly and accurately detect the ore volume of the mining dump truck.
Disclosure of Invention
The technical problem is as follows: the invention aims to overcome the defects in the prior art and provides the ore volume detection device and method of the mining dump truck based on linear laser scanning, which are simple in structure, convenient to operate and high in reliability.
The technical scheme is as follows: the invention relates to a mineral volume detection device of a mining dump truck based on linear laser scanning, which comprises a carriageway for the mining dump truck to pass through, wherein the carriageway is horizontally and transversely arranged on the ground, the middle part of the carriageway is provided with a light curtain door for the mining dump truck to pass through, the light curtain door comprises vertical beams arranged on two sides of the carriageway in the vertical direction and a cross beam arranged at the top end of the vertical beam in the horizontal longitudinal direction, one end of the cross beam is provided with a black light absorption plate, the bottom of the middle position of the cross beam is provided with a linear green laser, the middle part of the cross beam is provided with a vertical support beam, the vertical support beam is provided with an industrial personal computer, the top end of the vertical support beam is horizontally and transversely provided with a horizontal support beam, and the cantilever end of the horizontal support beam is provided with a camera connected with the industrial personal computer; the light ruler is arranged on the carriage of the mining dump truck, attached to the top plane of the side plate on one side of the carriage and extends from the tail of the carriage to the top of the carriage.
And shading grooves are formed in the inner sides of the vertical beams along the horizontal longitudinal direction.
The black light absorption plate is a square light absorption plate, and the upper edge of the square light absorption plate is tightly attached to the lower edge of the beam.
The line-shaped green laser emits line-shaped laser downwards in a sector mode along the horizontal longitudinal direction, and green light spots are formed when the line-shaped green laser meets an obstacle.
The optical ruler consists of light reflecting strips which are arranged at equal intervals along the horizontal direction, and the light reflecting strips are arranged on the top plane of the side plate at equal intervals by taking delta d as an interval.
The detection method of the ore volume detection device of the mining dump truck based on linear laser scanning comprises the following steps:
(a) laying a traffic lane horizontally and transversely on the ground, mounting vertical beams on two sides of the traffic lane along the vertical direction, mounting a cross beam on the top end of each vertical beam along the horizontal longitudinal direction, mounting a black light absorption plate at one end of each cross beam, enabling the upper edge of each black light absorption plate to be tightly attached to the lower edge of each cross beam, mounting a linear green laser at the bottom of the middle position of each cross beam, enabling the linear green laser to downwards emit linear laser in a sector mode along the horizontal longitudinal direction, mounting a vertical support beam on the upper part of the middle position of each cross beam, mounting a horizontal support beam on the top end of the upper part of the vertical support beam along the horizontal transverse direction, mounting a camera at one end of the horizontal support beam, enabling a lens of the camera to face a light curtain door, and transmitting the acquired image to an industrial personal computer;
(b) carrying out image registration on a camera, acquiring an image by the camera under the condition that no mining dump truck passes through a light curtain door, extracting image characteristic point coordinates comprising upper and lower end points of a vertical beam, constructing a real image of the light curtain door in the opposite direction according to the physical actual size, extracting physical coordinates of the upper and lower end points of the vertical beam, matching the characteristic points according to the on-picture coordinates of the visual angle of the camera and the physical coordinates of the actual visual angle, and constructing image geometric transformation by adopting projective transformation to obtain a transformation matrix between the two;
(c) when the ore volume needs to be detected, the mining dump truck with the ore horizontally passes through a light curtain door on a driving lane, and finally the carriage ore volume is obtained through image acquisition, image extraction, image correction, area calculation and volume calculation.
The specific steps of image acquisition, image extraction, image correction, area calculation and volume calculation are as follows:
firstly, a camera acquires images;
secondly, image extraction: because the linear green laser emits linear laser downwards along the horizontal longitudinal sector, a green light spot is formed when the linear green laser meets an obstacle, and the vertical beams on the two sides are provided with shading grooves, the green light spot projected on the vertical beams can be shaded, so that the green light spot is the outline of the interface of a carriage and a light curtain door in the visual angle of the camera, and at the moment, green and black are taken as sampling colors to extract images of the green light spot and the black light absorption plate;
thirdly, image correction: performing projective transformation on the image collected by the camera by using the transformation matrix obtained in the step (b), and projecting the on-image coordinates of the visual angle of the camera to the physical coordinates of the actual visual angle;
fourthly, area calculation: the method comprises the steps of taking the upper left corner of a black light absorption plate image as a coordinate origin, taking the horizontal width delta x and the vertical width delta y of the black light absorption plate as references, constructing a two-dimensional coordinate system, obtaining coordinates of each point of a green light spot, taking the lower edge of the green light spot as an object, identifying left and right boundary points of a carriage according to whether vertical jump occurs, and solving the area defined by the outline of ore in the carriage and the upper edge of the black light absorption plate and the lower edge of a cross beam through integration;
fifth, volume calculation: because the light reflecting strips are arranged on the plane at the top of the side plate at equal intervals by taking delta d as an interval, under the irradiation of linear laser, when the mining dump truck horizontally and transversely passes through the light curtain door, the staggered positions of the light scale and the light curtain door can alternately illuminate the light reflecting strips;
when the ith (i is 1,2, …, N) (N is the total number of the light reflecting strips) light up, the area S defined by the outer contour of the corresponding ore and the lower edge of the cross beam is obtained through image extraction, image correction and area calculation in the step (c)i(ii) a When the carriage completely passes through the light curtain door, the volume V enclosed by the outer contour of the ore and the lower edge of the cross beam is calculatedMeasuringComprises the following steps:
sixthly, calculating the square amount of the ore: because the volume V enclosed by the bottom of the carriage and the lower edge of the cross beam under the no-load conditionSign boardCalculated according to the structural size of the carriage and the distance between the carriage and the cross beam, so that a difference method is adopted, and the ore volume V of the mining dump truck is obtained at the momentMineComprises the following steps:
Vmine＝VSign board-VMeasuring。
Has the advantages that: the device of the invention adopts a linear laser scanning auxiliary imaging and image recognition carriage ore profile to obtain carriage ore square, uses a linear green laser to generate sector linear laser, directly recognizes the ore profile by green light spots, has high reliability and little influence by environmental brightness, extracts the green light spots and black light absorption plate profiles based on pixel colors, improves the accuracy of image extraction, adopts projective transformation to carry out image correction on the visual angle of a camera, converts the image correction into the actual visual angle in the direction of a light curtain door, avoids geometric dimension distortion caused by the shooting angle of the camera, recognizes the left and right boundaries of a carriage based on whether the green light spots generate vertical jump or not, improves the reliability of image segmentation, establishes a coordinate system based on a square light absorption plate with known physical position and size, is favorable for rapidly calculating the area defined by the ore profile and the lower edge of a beam, and adopts a difference method to obtain the ore square, the calculation complexity is low, adopts the mode of pasting the equidistance at carriage curb plate top and arranging reflection of light narrow strip to the carriage is transversely scanned along the level at the same interval, obtains more accurate ore square volume, avoids the accumulative error that assumes the truck at the uniform velocity to bring through the light curtain door in the tradition, and novel structure is reliable practical, and economic nature is good, has extensive using value in this technical field.
Drawings
FIG. 1 is a schematic diagram of the apparatus of the present invention.
Fig. 2 is a schematic diagram of the working principle of the optical scale of the device of the invention.
Fig. 3 is a schematic view of the camera image registration of the apparatus of the present invention.
FIG. 4 is a schematic diagram of the ore volume detection method of the apparatus of the present invention.
In the figure: the system comprises a road 1, a traffic lane 2, a carriage 2, a side plate 2, an ore 3, a camera 4, a horizontal supporting beam 5, a vertical beam 6, a shading groove 6, a black light absorption plate 7, a green light spot 8, a beam 9, a linear green laser 10, a vertical supporting beam 11, an industrial personal computer 12, an optical scale 13, a light reflection strip 13 and a mining dump truck 14.
Detailed Description
An embodiment of the invention is further described below with reference to the accompanying drawings: mainly comprises a carriageway (1), a camera (4), a horizontal supporting beam (5), a vertical beam (6), a black light absorption plate (7), a cross beam (9), a linear green laser (10), a vertical supporting beam (11), an industrial personal computer (12) and a cursor ruler (13), wherein the carriageway (1) is horizontally and transversely arranged on the ground along the horizontal direction, the vertical beam (6) is arranged at two sides of the carriageway (1) along the vertical direction, the vertical beam (6) is provided with a shading groove (6-a) along the horizontal longitudinal inner side, the cross beam (9) is arranged at the top end of the vertical beam (6) along the horizontal longitudinal direction, the middle part of the carriageway (1) is provided with a light curtain door for a mining dump truck (14) to pass through, the light curtain door is composed of the vertical beam (6) and the cross beam (9), one end of the cross beam (9) is provided with the black light absorption plate (7), the bottom of the middle position of the cross beam (9) is provided with the linear green laser (10), a vertical supporting beam (11) is arranged at the upper part of the middle position of the cross beam (9), an industrial personal computer (12) is arranged on the vertical supporting beam (11), a horizontal supporting beam (5) is horizontally and transversely arranged at the top end of the upper part of the vertical supporting beam (11), and a camera (4) connected with the industrial personal computer (12) is arranged at the cantilever end of the horizontal supporting beam (5); the black light absorption plate (7) is a square light absorption plate with known physical position and size, and the upper edge of the black light absorption plate is tightly attached to the lower edge of the cross beam (9); the linear green laser (10) emits linear laser downwards along the horizontal longitudinal direction in a sector mode, and a green light spot (8) is formed when the linear laser meets an obstacle in the emitting direction; the optical scale (13) consists of light reflecting narrow strips (13-a) which are arranged at equal intervals along the horizontal direction, and the optical scale (13) is attached to the top plane of the side plate (2-a) at one side of the carriage (2) and extends from the tail of the carriage (2) to the top of the carriage (2); the camera (6) is connected to an industrial personal computer (12) which is positioned on the vertical supporting beam (11).
The detection method of the ore volume detection device of the mining dump truck based on linear laser scanning comprises the following steps:
(a) a traffic lane (1) is horizontally and transversely paved on the ground, vertical beams (6) are arranged on two sides of the traffic lane (1) along the vertical direction, a cross beam (9) is horizontally and longitudinally arranged at the top end of the vertical beam (6), a black light absorption plate (7) is arranged at one end of the cross beam (9), the upper edge of the black light absorption plate (7) is tightly attached to the lower edge of the cross beam (9), a straight-line-shaped green laser (10) is arranged at the bottom of the middle position of the cross beam (9) to ensure that the straight-line-shaped green laser (10) downwards emits a straight-line-shaped laser along the horizontal longitudinal direction in a sector manner, a vertical supporting beam (11) is arranged at the upper part of the middle position of the cross beam (9), a horizontal supporting beam (5) is arranged at the top end of the upper part of the vertical supporting beam (11) along the horizontal direction, a camera (4) is installed at one end of the horizontal supporting beam (5), a lens of the camera (4) faces to a light curtain door, and an acquired image is transmitted to an industrial personal computer (12);
(b) carrying out image registration on a camera (4), under the condition that no mining dump truck (14) passes through a light curtain door, acquiring an image by the camera (4), extracting coordinates of feature points of the image, wherein the coordinates comprise upper and lower end points { A, B, C and D } of a vertical beam (6), constructing a real image of the light curtain door in the opposite direction according to physical actual dimensions, extracting physical coordinates of the upper and lower end points { A ', B', C 'and D' } of the vertical beam (6), matching the feature points according to the on-graph coordinates of the visual angle of the camera (4) and the physical coordinates of the actual visual angle, and constructing geometric transformation of the image by adopting projective transformation to obtain a transformation matrix between the upper and lower end points;
(c) when the ore volume needs to be detected, the mining dump truck (14) with the ore (3) horizontally and transversely passes through a light curtain door on the lane (1), and finally the carriage ore volume is obtained through image acquisition, image extraction, image correction, area calculation and volume calculation.
The specific steps of image acquisition, image extraction, image correction, area calculation and volume calculation are as follows:
firstly, a camera (4) collects images;
secondly, image extraction: because the linear green laser (10) emits linear laser downwards along the horizontal longitudinal sector, a green light spot (8) is formed when encountering an obstacle, and the vertical beams (6) at two sides are provided with shading grooves (6-a), the green light spot (8) projected on the vertical beam (6) can be shaded, so that the green light spot (8) is the outer contour of the interface of the carriage (2) and the light curtain door in the visual angle of the camera (4), and at the moment, images of the green light spot (8) and the black light absorbing plate (7) are extracted by taking green and black as sampling colors;
thirdly, image correction: performing projective transformation on the image collected by the camera (4) by using the transformation matrix obtained in the step (b), and projecting the on-map coordinates of the visual angle of the camera (4) to the physical coordinates of the actual visual angle;
fourthly, area calculation: the method comprises the steps of taking the upper left corner of an image of a black light absorption plate (7) as a coordinate origin, taking the horizontal width delta x and the vertical width delta y of the black light absorption plate (7) as references, constructing a two-dimensional coordinate system, obtaining coordinates of each point of a green light spot (8), taking the lower edge of the green light spot (8) as an object, and identifying left and right boundary points of a carriage (2) according to whether vertical jump occurs, and through integration, obtaining the outline of an ore (3) in the carriage (2) and the upper edge of the black light absorption plate (7) and also determining the area enclosed by the lower edge of a cross beam (9);
fifth, volumeAnd (3) calculating: because the light reflecting strips (13-a) are arranged on the top plane of the side plate (2-a) at equal intervals with delta d as an interval, under the irradiation of linear laser, when the mining dump truck (14) horizontally and transversely passes through the light curtain door, the staggered positions of the light reflecting strips (13-a) and the light curtain door can alternately illuminate the light reflecting strips (13-a); when the ith (i is 1,2, …, N) (N is the total number of the light reflecting strips), the light reflecting strips (13-a) are illuminated, and the area S defined by the outer contour of the corresponding ore (3) and the lower edge of the cross beam (9) is obtained through the image extraction, the image correction and the area calculationi；
When the carriage (2) completely passes through the light curtain door, the volume enclosed by the outer contour of the ore (3) and the lower edge of the cross beam (9) is calculated as
Sixthly, calculating the square amount of the ore: the volume V enclosed by the bottom of the carriage (2) and the lower edge of the cross beam (9) under the no-load conditionSign boardCan be calculated according to the structural size of the carriage (2) and the distance between the carriage (2) and the cross beam (9), so that a difference method is adopted, and the ore volume V of the mining dump truck (14) is calculated at the momentMineComprises the following steps:
Vmine＝VSign board-VMeasuring。
Claims (7)
1. The utility model provides a mining dump truck ore square volume detection device based on linear laser scanning which characterized in that: the device comprises a traffic lane (1) for the mining dump truck (14) to pass through, wherein the traffic lane (1) is horizontally and transversely arranged on the ground, a light curtain door for the mining dump truck (14) to pass through is arranged in the middle of the traffic lane (1), the light curtain door comprises vertical beams (6) which are arranged at two sides of the carriageway (1) along the vertical direction, and a cross beam (9) which is arranged at the top end of the vertical beam (6) along the horizontal longitudinal direction, a black light absorption plate (7) is arranged at one end of the beam (9), a linear green laser (10) is arranged at the bottom of the middle position of the beam (9), a vertical supporting beam (11) is arranged in the middle of the beam (9), an industrial personal computer (12) is arranged on the vertical supporting beam (11), a horizontal supporting beam (5) is horizontally and transversely arranged at the top end of the vertical supporting beam (11), a cantilever end of the horizontal supporting beam (5) is provided with a camera (4) connected with an industrial personal computer (12); a cursor ruler (13) is arranged on a carriage (2) of the mining dump truck (14), and the cursor ruler (13) is attached to the top plane of a side plate (2-a) on one side of the carriage (2) and extends from the tail of the carriage (2) to the top of the carriage (2).
2. The ore volume detection device of the mining dump truck based on linear laser scanning according to claim 1, characterized in that: and a shading groove (6-a) is arranged on the inner side of the vertical beam (6) along the horizontal longitudinal direction.
3. The ore volume detection device of the mining dump truck based on linear laser scanning according to claim 1, characterized in that: the black light absorption plate (7) is a square light absorption plate, and the upper edge of the square light absorption plate is tightly attached to the lower edge of the cross beam (9).
4. The ore volume detection device of the mining dump truck based on linear laser scanning according to claim 1, characterized in that: the line-shaped green laser (10) emits line-shaped laser downwards in a sector mode along the horizontal longitudinal direction, and a green light spot (8) is formed when the line-shaped green laser meets an obstacle.
5. The ore volume detection device of the mining dump truck based on linear laser scanning according to claim 1, characterized in that: the light scale (13) is composed of light reflecting strips (13-a) which are arranged at equal intervals along the horizontal transverse direction, and the light reflecting strips (13-a) are arranged on the top plane of the side plate (4-a) at equal intervals by taking delta d as an interval.
6. A detection method using the ore volume detection device of the mining dump truck based on linear laser scanning according to any one of claims 1 to 5, characterized by comprising the following steps:
(a) a traffic lane (1) is horizontally and transversely paved on the ground, vertical beams (6) are arranged on two sides of the traffic lane (1) along the vertical direction, a cross beam (9) is horizontally and longitudinally arranged at the top end of the vertical beam (6), a black light absorption plate (7) is arranged at one end of the cross beam (9), the upper edge of the black light absorption plate (7) is tightly attached to the lower edge of the cross beam (9), a straight-line-shaped green laser (10) is arranged at the bottom of the middle position of the cross beam (9) to ensure that the straight-line-shaped green laser (10) downwards emits a straight-line-shaped laser along the horizontal longitudinal direction in a sector manner, a vertical supporting beam (11) is arranged at the upper part of the middle position of the cross beam (9), a horizontal supporting beam (5) is arranged at the top end of the upper part of the vertical supporting beam (11) along the horizontal direction, a camera (4) is installed at one end of the horizontal supporting beam (5), a lens of the camera (4) faces to a light curtain door, and an acquired image is transmitted to an industrial personal computer (12);
(b) carrying out image registration on a camera (4), under the condition that no mining dump truck (14) passes through a light curtain door, acquiring an image by the camera (4), extracting coordinates of feature points of the image, including upper and lower end points of a vertical beam (6), constructing a real image of the light curtain door in the opposite direction according to physical actual dimensions, extracting physical coordinates of the upper and lower end points of the vertical beam (6), matching the feature points according to an on-image coordinate of a visual angle of the camera (4) and a physical coordinate of an actual visual angle, and constructing geometric transformation of the image by adopting projective transformation to obtain a transformation matrix between the two;
(c) when the ore volume needs to be detected, the mining dump truck (14) with the ore (3) horizontally and transversely passes through a light curtain door on the lane (1), and finally the carriage ore volume is obtained through image acquisition, image extraction, image correction, area calculation and volume calculation.
7. The detection method according to claim 6, characterized in that: the specific steps of image acquisition, image extraction, image correction, area calculation and volume calculation are as follows:
firstly, a camera (4) collects images;
secondly, image extraction: because the linear green laser (10) emits linear laser downwards along the horizontal longitudinal sector, a green light spot (8) is formed when encountering an obstacle, and the vertical beams (6) at two sides are provided with shading grooves (6-a), the green light spot (8) projected on the vertical beam (6) can be shaded, so that the green light spot (8) is the outer contour of the interface of the carriage (2) and the light curtain door in the visual angle of the camera (4), and at the moment, images of the green light spot (8) and the black light absorbing plate (7) are extracted by taking green and black as sampling colors;
thirdly, image correction: performing projective transformation on the image collected by the camera (4) by using the transformation matrix obtained in the step (b), and projecting the on-map coordinates of the visual angle of the camera (4) to the physical coordinates of the actual visual angle;
fourthly, area calculation: the method comprises the steps of taking the upper left corner of an image of a black light absorption plate (7) as a coordinate origin, taking the horizontal width delta x and the vertical width delta y of the black light absorption plate (7) as references, constructing a two-dimensional coordinate system, obtaining coordinates of each point of a green light spot (8), taking the lower edge of the green light spot (8) as an object, and identifying left and right boundary points of a carriage (2) according to whether vertical jump occurs or not, and solving the outline of an ore (3) in the carriage (2) and the upper edge of the black light absorption plate (7) and the area defined by the lower edge of a cross beam (9) through integration;
fifth, volume calculation: because the light reflecting strips (13-a) are arranged on the top plane of the side plate (2-a) at equal intervals with delta d as an interval, under the irradiation of linear laser, when the mining dump truck (14) horizontally and transversely passes through the light curtain door, the staggered positions of the light reflecting strips (13-a) and the light curtain door can alternately illuminate the light reflecting strips (13-a);
when the ith reflective narrow strip (13-a) is illuminated, the area S defined by the outer contour of the corresponding ore (3) and the lower edge of the cross beam (9) is obtained through image extraction, image correction and area calculation in the step (c)i(ii) a i is 1,2, …, N, N is the total number of the light reflecting strips,
when the carriage (2) passes through the light curtain door, the volume V enclosed by the outer contour of the ore (3) and the lower edge of the cross beam (9) is calculatedMeasuringComprises the following steps:
sixthly, calculating the square amount of the ore: the volume V enclosed by the bottom of the carriage (2) and the lower edge of the cross beam (9) under the no-load conditionSign boardCalculated according to the structural size of the carriage (2) and the distance between the carriage (2) and the cross beam (9), so that a difference method is adopted, wherein the ore volume V of the mining dump truck (14) is calculatedMineComprises the following steps:
Vmine＝VSign board-VMeasuring。
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